相关论文: LaViRA: Language-Vision-Robot Actions Translation …

Vision-language navigation (VLN) has emerged as a promising paradigm, enabling mobile robots to perform zero-shot inference and execute tasks without specific pre-programming. However, current systems often separate map exploration and path…

Vision-and-Language Navigation (VLN) requires agents to interpret natural language instructions and act coherently in visually rich environments. However, most existing methods rely on reactive state-action mappings without explicitly…

While Vision-Language Models (VLMs) are set to transform robotic navigation, existing methods often underutilize their reasoning capabilities. To unlock the full potential of VLMs in robotics, we shift their role from passive observers to…

Vision-and-Language Navigation (VLN) requires an agent to ground language instructions to its own movement within a visual environment. While state-of-the-art methods leverage the reasoning capabilities of Vision-Language Models (VLMs) for…

Vision-Language Navigation (VLN) for Unmanned Aerial Vehicles (UAVs) demands complex visual interpretation and continuous control in dynamic 3D environments. Existing hierarchical approaches rely on dense oracle guidance or auxiliary object…

In this paper, we propose a training-free framework for vision-and-language navigation (VLN). Existing zero-shot VLN methods are mainly designed for discrete environments or involve unsupervised training in continuous simulator…

Vision-and-language navigation (VLN) is a long-standing challenge in autonomous robotics, aiming to empower agents with the ability to follow human instructions while navigating complex environments. Two key bottlenecks remain in this…

Large foundation models have shown strong open-world generalization to complex problems in vision and language, but similar levels of generalization have yet to be achieved in robotics. One fundamental challenge is that the models exhibit…

We present ConVOI, a novel method for autonomous robot navigation in real-world indoor and outdoor environments using Vision Language Models (VLMs). We employ VLMs in two ways: first, we leverage their zero-shot image classification…

Aerial Vision-and-Language Navigation (VLN) aims to enable unmanned aerial vehicles (UAVs) to interpret natural language instructions and navigate complex urban environments using onboard visual observation. This task holds promise for…

Vision-Language Navigation (VLN) aims to enable agents to navigate to a target location based on language instructions. Traditional VLN often follows a close-set assumption, i.e., training and test data share the same style of the input…

We present DyNaVLM, an end-to-end vision-language navigation framework using Vision-Language Models (VLM). In contrast to prior methods constrained by fixed angular or distance intervals, our system empowers agents to freely select…

Driver visual attention prediction is a critical task in autonomous driving and human-computer interaction (HCI) research. Most prior studies focus on estimating attention allocation at a single moment in time, typically using static RGB…

Multimodal Large Language Models (MLLMs) have demonstrated remarkable capabilities across a wide range of vision-language tasks. However, their performance as embodied agents, which requires multi-round dialogue spatial reasoning and…

Vision-and-Language Navigation (VLN) requires an embodied agent to navigate in a complex 3D environment according to natural language instructions. Recent progress in large language models (LLMs) has enabled language-driven navigation with…

Vision-Language Navigation in Continuous Environments (VLNCE), where an agent follows instructions and moves freely to reach a destination, is a key research problem in embodied AI. However, most existing approaches are sensitive to…

We propose the zero-shot Vision-and-Language Navigation with Collision Mitigation (VLN-CM), which takes these considerations. VLN-CM is composed of four modules and predicts the direction and distance of the next movement at each step. We…

Exploring open-world situations in an end-to-end manner is a promising yet challenging task due to the need for strong generalization capabilities. In particular, end-to-end autonomous driving in unstructured outdoor environments often…

In this study, we are interested in imbuing robots with the capability of physically-grounded task planning. Recent advancements have shown that large language models (LLMs) possess extensive knowledge useful in robotic tasks, especially in…

Trained with an unprecedented scale of data, large language models (LLMs) like ChatGPT and GPT-4 exhibit the emergence of significant reasoning abilities from model scaling. Such a trend underscored the potential of training LLMs with…